| TMMS30 |
Multi Body Dynamics and Robotics, 6 ECTS credits.
/Flerkroppsmekanik och robotik/
For:
M
MEC
Y
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Prel. scheduled
hours: 56
Rec. self-study hours: 104
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Area of Education: Technology
Main field of studies: Mechanical Engineering
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Advancement level
(G1, G2, A): A
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Aim:
The course aims at giving the student knowledge of computer-aided methods for mechanical analysis of multibody systems, with robot arms as an important special case. After the course the should be able to:
- Model mechanisms using generalized, relative, absolute and natural coordinates.
- Perform kinematic and kinetic analyses of mechanisms.
- Implement smaller parts of solution algorithms in MATLAB.
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Prerequisites: (valid for students admitted to programmes within which the course is offered)
Basic courses in calculus, algebra and mechanics.
Note: Admission requirements for non-programme students usually also include admission requirements for the programme and threshhold requirements for progression within the programme, or corresponding.
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Organisation:
Teaching is in the form of lectures, classes and computer exercises.
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Course contents:
Kinematics: Overview of different types of coordinates, kinematical constraints, analysis of position, velocity and acceleration. Kinetics: Euler's method. Robotics: Serial robots, the Denavit-Hartenberg notation, kinematic analysis.
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Course literature:
P. Christensen, Computational rigid body mechanics
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Examination: |
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Assignments
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6 ECTS
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Course language is English.
Department offering the course: IEI.
Director of Studies: Peter Schmidt
Examiner: Peter Christensen
Link to the course homepage at the department
Course Syllabus in Swedish
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